#ifndef IMUINTEGRATION_H
#define IMUINTEGRATION_H
#include <iostream>
#include <vector>

#include "math_utils.h"
#include "state.h"

class ImuIntegration {
public:
   ImuIntegration(const double &init_bias);
   void Integrate(const bool &is_init_bias, const Eigen::Vector3d& last_imu, const Eigen::Vector3d& curr_imu, const double& dt, State &state);
private:
    double init_bias_;                       
};

#endif 
